PointCloudObject.h

Go to the documentation of this file.

/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLGeom/src/ICLGeom/PointCloudObject.h                 **
** Module : ICLGeom                                                **
** Authors: Christof Elbrechter, Patrick Nobou                     **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
**                                                                 **
** Free Software Foundation and appearing in the file LICENSE.LGPL **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/

#pragma once

#include <ICLUtils/CompatMacros.h>
#include <ICLGeom/PointCloudObjectBase.h>

namespace icl{
  namespace geom{


    class ICLGeom_API PointCloudObject : public PointCloudObjectBase{
      protected:
      bool m_organized;           
      utils::Size m_dim2D;        
      bool m_hasNormals;          
      bool m_hasColors;           
      bool m_hasLabels;           
      bool m_hasDepth;            
      std::vector<int> m_labels;  
      std::vector<float> m_depth; 
      public:


      PointCloudObject(bool withNormals=false, bool withColors=false, bool withLabels=false, bool withDepth=false);

      PointCloudObject(int numPoints, bool withNormals=false, bool withColors=true, bool withLabels=false, bool withDepth=false);


      PointCloudObject(int width, int height, bool organized=true, bool withNormals=false,
                       bool withColors=true, bool withLabels=false, bool withDepth=false);

      virtual bool supports(FeatureType t) const;

      virtual bool isOrganized() const;

      virtual utils::Size getSize() const ;

      virtual int getDim() const;


      virtual void setSize(const utils::Size &size);

      virtual core::DataSegment<float,3> selectXYZ();

      virtual core::DataSegment<float,4> selectXYZH();

      virtual core::DataSegment<float,4> selectRGBA32f();


      virtual core::DataSegment<float,4> selectNormal();


      virtual core::DataSegment<icl32s,1> selectLabel();



      virtual core::DataSegment<float,1> selectDepth();

      virtual void customRender();

      virtual bool canAddFeature(FeatureType t) const;


      virtual void addFeature(FeatureType t) ;

      virtual PointCloudObject *copy() const {
        return new PointCloudObject(*this);
      }


      void push_back(const Vec &point){
        addVertex(point,GeomColor(0,100,255,255));
        if(m_hasNormals) m_normals.push_back(Vec(0,0,0,1));
        if(m_hasDepth) m_depth.push_back(0);
      }


      void push_back(const Vec &point, const GeomColor &color){
        addVertex(point,color);
        if(m_hasNormals) m_normals.push_back(Vec(0,0,0,1));
        if(m_hasDepth) m_depth.push_back(0);
      }


      void push_back(const Vec &point, const Vec &normal, const GeomColor &color, float depth=0){
        addVertex(point,color);
        if(m_hasNormals) m_normals.push_back(normal);
        if(m_hasDepth) m_depth.push_back(depth);
      }

      private:

      using SceneObject::addVertex;
      using SceneObject::addNormal;

    };



  } // namespace geom
}